CN117728736A - Motor driving device, control method, vehicle, and readable storage medium - Google Patents
Motor driving device, control method, vehicle, and readable storage medium Download PDFInfo
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- CN117728736A CN117728736A CN202410034375.3A CN202410034375A CN117728736A CN 117728736 A CN117728736 A CN 117728736A CN 202410034375 A CN202410034375 A CN 202410034375A CN 117728736 A CN117728736 A CN 117728736A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/62—Controlling or determining the temperature of the motor or of the drive for raising the temperature of the motor
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- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a motor driving device, a control method, a vehicle and a readable storage medium. The motor driving device includes: the motor driving device is connected to the positive electrode and the negative electrode of the power supply module through the voltage reduction side capacitor, the first end and the second end of the three-phase inverter are respectively connected to the positive electrode and the negative electrode of the power battery, the first end and the second end of the voltage reduction side capacitor are respectively connected with a connecting point of a three-phase coil of the three-phase motor and the second end of the three-phase inverter, and the three-phase coil of the three-phase motor is respectively connected with the middle point of a three-phase bridge arm of the three-phase inverter.
Description
Technical Field
The present invention relates to the field of motor driving technologies, and in particular, to a motor driving device, a control method, a vehicle, and a readable storage medium.
Background
At present, the energy crisis and the environmental pollution problem are increasingly serious, the electric automobile is used as a novel transportation tool, zero emission can be realized, and the electric automobile has the advantages of simple structure, high energy utilization rate, low noise and the like, and will take the dominant role in the future automobile development. For a new energy automobile with a direct current circuit, electric energy can be obtained through a direct current power supply circuit to drive a three-phase motor to output torque, when the electric quantity of a power battery is low, the power battery is required to be charged, and at present, the torque output process of the three-phase motor and the charging process of the power battery are respectively controlled, so that the overall control strategy in the automobile is complex.
Disclosure of Invention
The invention aims to provide a motor driving device, a control method, a vehicle and a readable storage medium, which can realize the simultaneous control of a charging process of a power battery and a torque output process of a three-phase motor.
The present invention has been achieved in such a way that a first aspect of the present invention provides a motor driving apparatus comprising: the three-phase motor comprises a three-phase inverter, a three-phase motor and a voltage reduction side capacitor which are sequentially connected, wherein the motor driving device is connected to the positive electrode and the negative electrode of a power supply module through the voltage reduction side capacitor, a first end and a second end of the three-phase inverter are respectively connected to the positive electrode and the negative electrode of a power battery, the first end and the second end of the voltage reduction side capacitor are respectively connected with a connecting point of a three-phase coil of the three-phase motor and a second end of the three-phase inverter, and the three-phase coil of the three-phase motor is respectively connected with the middle point of a three-phase bridge arm of the three-phase inverter.
A second aspect of the present invention provides a control method of a motor drive apparatus including the motor drive apparatus of the first aspect, the control method of the motor drive apparatus including:
acquiring required charging power and a motor torque output value;
And according to the required charging power and the motor torque output value, regulating the current magnitude and direction of each phase of electricity of the three-phase motor so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
A third aspect of the present application provides a control method of a motor driving device, the motor driving device including the motor driving device of the first aspect, the control method of the motor driving device including:
acquiring required charging power and a motor torque output value;
acquiring target input current of a three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value;
and receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
A fourth aspect of the present application provides a motor driving device, based on the motor driving device of the first aspect, further comprising:
The data acquisition module is used for acquiring required charging power and a motor torque output value;
and the control module is used for adjusting the current magnitude and direction of each phase of electricity of the three-phase motor according to the required charging power and the motor torque output value so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
A fifth aspect of the present application provides a motor driving device, based on the motor driving device of the first aspect, further comprising:
the data acquisition module is used for acquiring required charging power and a motor torque output value;
the target duty ratio acquisition module is used for acquiring target input current of the three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value;
and the PWM control module is used for receiving the input of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
A sixth aspect of the invention provides a vehicle comprising a memory, a processor; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for realizing the control method according to the fourth or fifth aspect.
A sixth aspect of the present application is a non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the control method according to the fourth or fifth aspect.
The technical scheme of the invention provides a motor driving device, a control method, a vehicle and a readable storage medium, wherein the control method of the motor driving device comprises the following steps: acquiring required charging power and a motor torque output value; acquiring target input current of a three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value; and receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor. According to the technical scheme, on the basis of not adding an additional boost charging module, the cooperative control method of the torque output and the power battery is realized, the problem that a vehicle which is not provided with a direct current power supply line in a whole process works cooperatively with the required torque output and battery charging is effectively solved, and the power supply circuit has the advantages of being simple in circuit structure, low in cost, low in failure risk and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a circuit diagram of a motor driving device according to a first embodiment of the present invention;
fig. 2 is another circuit diagram of a motor driving device according to a first embodiment of the present invention;
fig. 3 is a flowchart of a control method of a motor driving device according to a second embodiment of the present invention;
fig. 4 is a flowchart of a control method of a motor driving device according to a third embodiment of the present invention;
fig. 5 is a flowchart of step S21 in a control method of a motor driving device according to a third embodiment of the present invention;
fig. 6 is another flowchart of step S21 in a control method of a motor driving device according to a third embodiment of the present invention;
fig. 7 is a flowchart after step S22 in a control method of a motor driving device according to a third embodiment of the present invention;
Fig. 8 is a flowchart of step S23 in a control method of a motor driving device according to a third embodiment of the present invention;
fig. 9 is another flowchart after step S22 in a control method of a motor driving device according to a third embodiment of the present invention;
fig. 10 is a flowchart of step S26 in a control method of a motor driving device according to a third embodiment of the present invention;
fig. 11 is a control block diagram of a control method of a motor driving device according to a third embodiment of the present invention;
fig. 12 is a schematic structural view of a motor driving device according to a fourth embodiment of the present invention;
fig. 13 is a schematic structural diagram of a motor driving device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
An embodiment of the present invention provides a motor driving device, as shown in fig. 1, including: the motor driving device is connected to the positive electrode and the negative electrode of the power supply module 103 through the voltage reduction side capacitor C2, the first end and the second end of the three-phase inverter 102 are respectively connected to the positive electrode and the negative electrode of the power battery 104, the first end and the second end of the voltage reduction side capacitor C2 are respectively connected with a connecting point of a three-phase coil of the three-phase motor 102 and the second end of the three-phase inverter 101, and the three-phase coil of the three-phase motor is respectively connected with the middle point of a three-phase bridge arm of the three-phase inverter.
For the three-phase inverter 101, specifically, the three-phase inverter 101 includes a first power switch unit, a second power switch unit, a third power switch unit, a fourth power switch unit, a fifth power switch unit, and a sixth power switch, input ends of the first power switch unit, the third power switch unit, and the fifth power switch unit are commonly connected and constitute a first end of the three-phase inverter 101, output ends of the second power switch unit, the fourth power switch unit, and the sixth power switch unit are commonly connected and constitute a second end of the three-phase inverter 101, a first phase coil of the three-phase motor 102 is connected with the output end of the first power switch unit and the input end of the fourth power switch unit, a second phase coil of the three-phase motor 102 is connected with the output end of the third power switch unit and the input end of the sixth power switch unit, and a third phase coil of the three-phase motor 102 is connected with the output end of the fifth power switch unit and the input end of the second power switch unit.
The first power switch unit in the three-phase inverter 101 comprises a first upper bridge arm VT1 and a first upper bridge diode VD1, the second power switch unit comprises a second lower bridge arm VT2 and a second lower bridge diode VD2, the third power switch unit comprises a third upper bridge arm VT3 and a third upper bridge diode VD3, the fourth power switch unit comprises a fourth lower bridge arm VT4 and a fourth lower bridge diode VD4, the fifth power switch unit comprises a fifth upper bridge arm VT5 and a fifth upper bridge diode VD5, the sixth power switch unit comprises a sixth lower bridge arm VT6 and a sixth lower bridge diode VD6, the three-phase motor 102 is a three-phase four-wire system, which can be a permanent magnet synchronous motor or an asynchronous motor, a neutral line is led out from a connecting midpoint of the three-phase coil, the neutral line is connected with the power supply module 103, and the three-phase coil of the motor is respectively connected with a midpoint between the upper and lower phases A, B, C in the three-phase inverter 101.
The power supply module 103 may be dc power provided by a dc charging pile, or dc power output by a single-phase ac charging pile or a three-phase ac charging pile after rectification, or electric energy generated by a fuel cell, or power source form such as dc power generated by a range extender such as an engine rotating to drive a generator to generate power, and rectified by a generator controller.
According to the embodiment of the application, through the connection structure provided with the power battery, the three-phase inverter, the three-phase motor and the power supply module, the power battery is connected through the connection point of the three-phase coil of the three-phase motor, the current input by the power battery is received, when the motor driving device needs to be charged and the motor torque is output, the required charging power and the motor torque output value are obtained, and the three-phase bridge arm of the three-phase inverter is controlled according to the required charging power and the motor torque output value, so that the charging process and the motor torque output process are carried out simultaneously.
Further, as shown in fig. 2, the motor driving device further includes an inductor L, a switch K1 and a switch K2, where a first end of the switch K1 is connected to a connection point of the three-phase coil of the three-phase motor 102, a second end of the switch K1 is connected to a first end of the inductor L, a second end of the inductor L is connected to a first end of the buck capacitor C2, a second end of the buck capacitor C2 is connected to a first end of the switch K2, and a second end of the switch K2 is connected to a second end of the three-phase inverter 101.
The inductor is used for filtering and storing energy, and the switch K1 and the switch K2 are used for controlling the connection and disconnection of the power supply module 103.
A second embodiment of the present application provides a control method of a motor driving device according to the first embodiment, as shown in fig. 3, where the control method of the motor driving device includes:
and S10, acquiring required charging power and a motor torque output value.
In step S10, the required charging power is the charging power obtained by the vehicle controller according to the current state of charge of the power battery, and the motor torque output value may be the torque output value obtained by the vehicle controller according to the required vehicle speed command.
And S11, adjusting the current magnitude and direction of each phase of electricity of the three-phase motor according to the required charging power and the motor torque output value so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
In step S11, the current direction of each phase electricity refers to the direction flowing into or out of the three-phase coil, the current magnitude of each phase electricity refers to the magnitude of current flowing into or out of the three-phase coil, for example, the current flows into the three-phase motor from the coil connected with the a-phase arm in the three-phase inverter, the current flows out of the three-phase motor from the coil connected with the B-phase and C-phase arm in the three-phase inverter, since the torque output value can be adjusted by adjusting the current magnitude of each phase electricity of the three-phase motor, and the sum of the current magnitudes of each phase electricity of the three-phase motor is equal to the input current of the connection point of the three-phase coil of the three-phase motor, the input current can be used for adjusting the charging power, and by adjusting the current magnitude and direction of each phase electricity of the three-phase motor, the charging process of the power supply module to the power battery and the output torque of the three-phase motor can be simultaneously controlled.
According to the method, according to the required charging power and the motor torque output value, the cooperative control method of torque output and power battery charging is realized on the basis of not adding an additional boost charging module by adjusting the current magnitude and direction of each phase of electricity of the three-phase motor, the problem of cooperative work of the required torque output and battery charging of a vehicle with a non-whole-course direct-current power supply line is effectively solved, and the method has the advantages of being simple in circuit structure, low in cost, low in failure risk and the like.
An embodiment of the present invention provides a control method of a motor driving device according to the first embodiment, as shown in fig. 4, where the control method of the motor driving device includes:
and S20, acquiring required charging power and a motor torque output value.
S21, acquiring target input current of the three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value.
And S22, receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
For step S20, since step S20 is the same as step S10, the description thereof will not be repeated here.
For step S21, the target input current of the three-phase motor refers to the current output by the power supply module to the three-phase motor, the first target duty ratio of the control pulse of each phase bridge arm refers to the PWM signal duty ratio of each phase bridge arm to control the on-off of the power switch unit on each phase bridge arm, the target input current of the three-phase motor is obtained by calculating according to the required charging power and the motor torque output value, and then the first target duty ratio of the control pulse of each phase bridge arm is calculated according to the target input current.
As an embodiment, as shown in fig. 5, step S21 includes:
and S211, obtaining the target voltage of the capacitor at the step-down side.
In step S211, the current voltage of the power battery is obtained, the highest output voltage of the power supply module is obtained through communication with the power supply module, and the target voltage of the step-down measurement capacitor is determined according to the current voltage of the power battery and the highest output voltage of the power supply module, wherein the target voltage of the step-down measurement capacitor meets the following three points: 1. the target voltage of the step-down measuring capacitor is smaller than the highest output voltage of the power supply module; 2. the target voltage of the step-down measurement capacitor is smaller than the current voltage of the power battery; 3. the target voltage of the step-down measuring capacitor is selected to be larger as much as possible, but the requirements of 1 and 2 are met, and a certain voltage allowance is reserved; therefore, the target voltage of the step-down measurement capacitor can be the minimum value of the current voltage of the power battery and the highest output voltage of the charging pile.
The interaction process of the control module and the power supply module of the vehicle is as follows:
and step 1, the BMS (BATTERY MANAGEMENT SYSTEM, power management system) in the control module acquires the highest output voltage of the power supply module through a message.
And 2, the BMS obtains a target value of the capacitor voltage at the step-down side according to the highest voltage of the power supply module and the current voltage of the power battery under the condition of leaving a certain margin, and sends the target value to the control module.
And 3, controlling the average duty ratio of the three phases by a motor controller in the control module according to the target voltage of the step-down side, so that the capacitor voltage of the step-down side reaches the target voltage value.
Step 4, the BMS notifies the external power supply module of the voltage value of the vehicle end (namely, the voltage value of the step-down side) through a message.
And step 5, the external power supply module detects the voltage value of the voltage reduction side, compares the voltage value with the voltage value received by the message, and starts to charge after the difference value of the voltage value and the voltage value meets the preset standard.
And S212, calculating target input current of the three-phase motor according to the required charging power, the motor torque output value and the target voltage.
In step S212, the driving power is calculated from the motor torque output value, which may be according to the formulaCalculating driving power; n is the motor rotation speed, te is the motor torque, and P 1 For driving power, according to the formula +.>Calculating a target input current, P 2 To demand charging power, U 2 Is the target voltage of the buck-side capacitor.
Further, as shown in fig. 6, step S21 further includes:
and S213, acquiring the target current of each phase of electricity of the three-phase motor according to the position of the motor rotor, the target input current and the motor torque output value.
Wherein, step S213 includes:
calculating a target current of each phase electricity of the three-phase motor according to the following formula 1, formula 2 and formula 3 according to a motor rotor position, a target input current and a motor torque output value:
equation 1:
equation 2: ia+ib+ic=i
Equation 3: m=ia×ia+ib×ib+ic×ic
Wherein alpha is the rotor lag angle, IA, IB, IC is the target current of each phase of the three-phase motor, I is the target input current, te is the motor torque output value, lambda, rho, L d ,L q And M is the minimum value of a plurality of groups of data for motor parameters.
Wherein, according to formula 1 and formula 2, multiple groups of data of each phase of electric target current IA, IB, IC of the three-phase motor can be obtained, and according to formula 3, the data of each phase of electric target current IA, IB, IC of the three-phase motor is obtained as the data of the smallest group of data M among the multiple groups of data.
Step S214, obtaining a first target duty ratio of control pulses of each phase bridge arm according to the target current and the target input current of each phase of electricity, the target voltage of the voltage reduction side capacitor and the voltage of the power battery.
Wherein, step S214 includes:
s2141, obtaining the average duty ratio of the three-phase electric control pulse according to the target voltage of the capacitor at the step-down side, the target input current and the voltage of the power battery.
Wherein, step S2141 includes:
according to the target voltage of the capacitor at the step-down side, the target input current and the voltage of the power battery, the average duty ratio of the three-phase electric control pulse is obtained through the following formula:
equation 4: u (U) 2 ＝U 1 ×D 0 -I x R, wherein U 2 To step down the target voltage of the side capacitor, U 1 For the voltage of the power battery, D 0 The average duty ratio of the three-phase electric control pulse is that I is the target input current, and R is the equivalent impedance of the three-phase motor.
Wherein U is 1 ×D 0 The voltage at the two ends of the three-phase inverter, i×r, is the voltage drop across the three-phase motor, and the above formula can be obtained according to the sum of the voltage drop across the three-phase inverter and the target voltage of the capacitor at the step-down side.
S2142, a first target duty ratio of control pulses of each phase bridge arm is obtained according to the average duty ratio, the target input current, the target current of each phase of electricity, the target voltage of the voltage reduction side capacitor and the voltage of the power battery.
Wherein, step S2142 includes:
according to the average duty ratio, the target input current, the target current of each phase of electricity and the voltage of the power battery, a first target duty ratio of the control pulse of each phase of bridge arm is obtained according to the following formula:
equation 5:
wherein I is 1 For each phase of electric target current, R 1 For equivalent impedance of each phase coil, D 1 A first target duty cycle for the control pulses of each phase leg.
Wherein, the voltage of the connection point of each phase bridge arm and each phase coil is equal to the sum of the voltage drop of the phase coil and the target voltage of the voltage-dropping side capacitor, namely U 1 ×D 1 ＝R 1 ×I 1 +U 2 In the followingAnd (3) combining the formula 4 to obtain a formula 5, namely obtaining the first target duty ratio of the control pulse of each phase of bridge arm.
In the circuit diagram shown in fig. 2, the motor driving device further includes an inductor;
in step S2141, the average duty ratio of the three-phase electric control pulse is obtained according to the target voltage of the step-down side capacitor, the target input current, and the voltage of the power battery, including:
according to the target voltage of the capacitor at the step-down side, the target input current and the voltage of the power battery, the average duty ratio of the three-phase electric control pulse is obtained through the following formula:
U 2 ＝U 1 ×D 0 -I×R-I×R L wherein U is 2 To step down the target voltage of the side capacitor, U 1 For the voltage of the power battery, D 0 The average duty ratio of the three-phase electric control pulse is that I is the target input current, R is the equivalent impedance of the three-phase motor, R L Is an inductive impedance.
The formula also comprises voltage drop on the inductor because the inductor is arranged and the inductor has inductance impedance.
Step s2142, obtaining a first target duty ratio of a control pulse of each phase bridge arm according to the average duty ratio, the target input current, the target current of each phase of electricity and the voltage of the power battery:
wherein I is 1 For each phase of electric target current, R 1 For equivalent impedance of each phase coil, D 1 A first target duty cycle for the control pulses of each phase leg.
According to the embodiment, target input current of the three-phase motor is calculated according to the required charging power and the motor torque output value, and then target current of each phase of electricity of the three-phase motor is obtained according to the motor rotor position, the target input current and the motor torque output value; and then, a first target duty ratio of control pulses of each phase of bridge arm is calculated according to the target input current and the target current of each phase of electricity of the three-phase motor, the three-phase bridge arm is controlled according to the first target duty ratio, and the cooperative control method of torque output and power battery charging is realized on the basis of not adding an additional boost charging module, so that the problem of cooperative work of the required torque output and battery charging of a vehicle which is not provided with a direct current power supply line in a whole process is effectively solved, and the three-phase motor has the advantages of simple circuit structure, low cost, small failure risk and the like.
Further, as shown in fig. 7, in step S22, the first target duty cycle controls each phase of bridge arm, and then further includes:
s23, acquiring actual input current of the three-phase motor, and performing PID control operation through a PID regulator according to the actual input current of the three-phase motor and the target input current of the three-phase motor to obtain the average duty ratio variation of the three-phase electric control pulse.
S24, obtaining a second target duty ratio according to the first target duty ratio and the average duty ratio variation;
and S25, controlling each phase of bridge arm according to the second target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
In step S23, the PID regulator performing PID control (proportional-integral-derivative control) is a feedback loop component commonly used in industrial control applications, and is composed of a proportional unit P, an integral unit I, and a derivative unit D. The current deviation of the proportional reaction system can be adjusted through a proportional coefficient to reduce the error, integrate the accumulated deviation of the reaction system, eliminate steady-state error of the system and improve no-difference degree, because the error exists, the integral adjustment is carried out until no error exists, the change rate of the deviation signal of the differential reaction system has predictability, the trend of deviation change can be predicted, the advanced control effect is generated, and the differential adjustment effect is eliminated before the deviation is not formed, so that the dynamic performance of the system can be improved.
As an embodiment, as shown in fig. 8, step S23 includes:
and S231, acquiring a current difference value between the actual input current of the three-phase motor and the target input current of the three-phase motor.
And S232, calculating the average duty ratio change increment of the three-phase electric control pulse according to the current difference value and the proportion coefficient of the PID regulator when the actual input current of the three-phase motor is larger than the target input current.
And S233, when the actual input current of the three-phase motor is smaller than the target input current, calculating the average duty ratio variation decrement of the three-phase electric control pulse according to the current difference value and the proportion coefficient of the PID regulator.
In step S24, when the actual input current of the three-phase motor is greater than the target input current, the average duty ratio of the outputted three-phase electric control pulse is gradually increased to decrease the actual input current, and when the actual input current of the three-phase motor is less than the target input current, the average duty ratio of the outputted three-phase electric control pulse is gradually decreased to increase the actual input current.
In the above steps, the charging current of the power battery is realized by the motor controller through the adjustment of the average duty ratio of the three-phase electric control pulse, and the target input current of the three-phase motor is assumed to be I, and the actual input current of the three-phase motor is obtained to be I * Then the current difference (I * -I) input to a PID regulator, calculated by the PID regulator, output the average duty cycle K (I) of the three phase pulses * -I), wherein K is a scaling factor set in the PID regulator, if the actual input current of the three-phase motor is I * When the target input current smaller than the three-phase motor is I, the average duty ratio of the three-phase electric control pulse output by the PID regulator is reduced, so that the actual input current is increased; the actual input current of the three-phase motor is I * When the target input current larger than the three-phase motor is I, the average duty ratio of the three-phase electric control pulse output by the PID regulator is increased, so that the actual input current is reduced.
Further, as shown in fig. 9, in step S22, the first target duty cycle controls each phase of bridge arm, and then further includes:
s26, obtaining actual current of each phase of electricity, and performing PID control operation through a PID regulator according to the actual current and the target current of each phase of electricity to obtain the duty ratio variation of the control pulse of each phase of bridge arm.
And S27, obtaining a third target duty ratio according to the first target duty ratio and the duty ratio variation.
And S28, controlling each phase of bridge arm according to the third target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
As shown in fig. 10, step S26 includes:
and S261, acquiring a current difference value between the actual current and the target current of each phase of electricity.
S262, when the target current of each phase of electricity is larger than the actual current, calculating the duty ratio change increment of the phase bridge arm according to the current difference value and the proportion coefficient of the PID regulator.
And step S263, when the target current of each phase of electricity is smaller than the actual current, calculating the change decrement of the duty ratio of the phase bridge arm according to the current difference value and the proportionality coefficient of the PID regulator.
In the step, when the target current of each phase of bridge arm is larger than the actual current, the output duty ratio change increment is gradually increased so as to increase the actual current of each phase of bridge arm; when the target current of each phase bridge arm is smaller than the actual current, the output duty ratio change decrement is gradually increased so as to reduce the actual current of each phase bridge arm. The control of the three-phase bridge arm current is mainly realized by superposing the increment on the basis of the average duty ratio of the three-phase electric control pulse. Assuming that the target current output by the phase A Is, and the target value Is, the current difference (Is-Is) Is input into a PID controller, and the phase A pulse duty cycle increment value Is output after PID calculation. If the actual current Is of the A phase Is smaller than the target value Is, the duty ratio of the A phase output by the PID Is increased, so that the output current of the A phase Is increased; when the actual current Is of the phase a Is larger than the target value Is, the duty ratio of the phase a outputted by the PID will be reduced, so that the output current of the phase a Is reduced, and the voltage control of the phase B and the phase C Is the same as that of the phase a, which Is not described in detail.
In this embodiment, a superimposed amount is added to the average duty ratio to complete the control of the three-phase current, so that the actual value of the three-phase current reaches the target value of the three-phase current. When the actual charging current of a certain phase is smaller than the target value, the superposition amount of the duty ratio of the phase is increased, and conversely, when the actual charging current is larger than the target value, the superposition amount of the duty ratio is reduced, the PID automatic control can be also adopted, so that the actual current of three phases is always near the target, and the control of torque output and charging is realized through the control of the three-phase current.
The following examples further illustrate the invention by way of specific examples:
the structure of the motor driving device provided by the embodiment of the invention is shown in fig. 1, the motor driving device comprises a power battery, a bus capacitor C1, a motor controller, a three-phase motor, an inductor and a switch, wherein the battery is connected with the motor controller through a direct-current bus capacitor, the motor controller is connected with the three-phase motor through a three-phase line, the three-phase motor is connected with the switch K1 through a neutral line led out by a connecting point of a three-line coil, the switch K1 is connected with the inductor, the inductor is connected with a charging pile through the bus capacitor C2, the negative electrode of the power battery is connected with the switch K2, the other ends of the switches K1 and K2 are connected with the charging pile, the operation system of the switches K1 and K2 is divided into a driving mode and a parking charging mode, in addition, the electric driving system is connected with a cooling loop of the battery system, and heat is transmitted from the electric driving system to the battery system through the flow of cooling liquid.
Firstly, according to the running requirement of the whole vehicle and the charging requirement of a power battery pack, a torque output target value and a required battery charging power are obtained.
Firstly, in the interaction stage between a motor driving device and a charging pile, a battery manager sends a voltage reduction instruction to a motor controller, and the motor controller charges a bus capacitor C2 to a target voltage U through three-phase duty ratio control 2 The power supply module detects that the bus capacitor C2 is U 2 And then starting charging, and simultaneously acquiring the voltage of the step-down capacitor and the output current of the power supply module by the battery manager according to the self charging capacity, sending a target output current to the charging pile, and outputting the charging pile according to the target charging current.
And then according to the torque output, the heating power and the charging power requirement, calculating a three-phase current target value, wherein a calculation formula is shown as follows.
IA+IB+IC＝I
Wherein alpha is the rotor lag angle, IA, IB and IC are each phase current of the three-phase coil, I is the input current of the three-phase motor, the power requirements of driving and battery charging are met, te is the motor torque output value, lambda, rho and L d ,L q For the motor parameters, P is the heating power, the first two formulas can obtain three-phase current data of some columns, and three-phase current data with the minimum heating power can be selected from the three-phase current data, or three-phase current data with the minimum (ia+ib+ic) is selected.
Sampling actual input currents of three-phase currents IA, IB and IC and a three-phase motor, respectively realizing control of the three-phase currents and input currents of a power battery through respective PID control loops, and after comparing the actual input currents of the three-phase motor with target input currents of the three-phase motor, outputting average target values of three-phase duty ratios through control of a PID regulator to realize control of the actual input currents of the three-phase motor, and simultaneously comparing the actual three-phase currents IA, IB and IC with the target currents IA, IB and IC, regulating the three-phase duty ratios through respective PID control, wherein the larger the regulating duty ratio is, the larger the current flowing into the motor is, the smaller the regulating duty ratio is, and the smaller the current flowing out of the motor is, as shown in fig. 11 and 12, the torque output is realized by using one PID control loop, and the three-phase current control is realized; the charging current or the charging voltage is controlled by another PID control loop, and meanwhile, the charging voltage and the heating power are controlled independently and continuously by the control of two PIDs, so that closed-loop control is realized, and cooperative control with the charging power is realized under the condition of torque output.
According to the technical scheme, on the basis of an original electric drive system, the torque output of the motor is realized by a cooperative control method of torque output, power battery charging and power battery heating, so that the torque safety of the whole vehicle during charging is ensured, and the charging and heating requirements of the power battery in a low-temperature environment are met.
A fourth embodiment of the present invention provides a motor driving device 50, as shown in fig. 12, based on the motor driving device provided in the first embodiment, the motor driving device further includes:
the data acquisition module 501 is configured to acquire a required charging power and a motor torque output value;
the control module 502 is configured to adjust the current magnitude and direction of each phase of electricity of the three-phase motor according to the required charging power and the motor torque output value, so as to control the charging process of the power battery by the power supply module and the output torque of the three-phase motor at the same time.
A fifth embodiment of the present invention provides a motor driving device 60, as shown in fig. 13, based on the motor driving device provided in the first embodiment, the motor driving device further includes:
the data acquisition module 601 is configured to acquire a required charging power and a motor torque output value;
the target duty cycle obtaining module 602 is configured to obtain a target input current of the three-phase motor and a first target duty cycle of a control pulse of each phase bridge arm according to the required charging power and the motor torque output value;
the PWM control module 603 is configured to receive an input current of the power supply module according to the target input current, and control each phase of bridge arm according to the first target duty ratio, so as to control a charging process of the power battery by the power supply module and an output torque of the three-phase motor at the same time.
Another embodiment of the invention provides a vehicle comprising a memory, a processor;
wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, for realizing the control methods provided by the second and third embodiments.
Another embodiment of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control methods provided by embodiments two and three.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (20)
1. A motor drive apparatus, characterized in that the motor drive apparatus comprises: the three-phase motor comprises a three-phase inverter, a three-phase motor and a voltage reduction side capacitor which are sequentially connected, wherein the motor driving device is connected to the positive electrode and the negative electrode of a power supply module through the voltage reduction side capacitor, a first end and a second end of the three-phase inverter are respectively connected to the positive electrode and the negative electrode of a power battery, the first end and the second end of the voltage reduction side capacitor are respectively connected with a connecting point of a three-phase coil of the three-phase motor and a second end of the three-phase inverter, and the three-phase coil of the three-phase motor is respectively connected with the middle point of a three-phase bridge arm of the three-phase inverter.
2. The motor drive of claim 1, further comprising an inductance connected between a connection point of the three-phase coils of the three-phase motor and a first end of the step-down side capacitor.
3. A motor drive apparatus according to claim 1, wherein,
the current magnitude and direction of each phase of electricity of the three-phase motor are adjusted according to the required charging power and the motor torque output value, so that the charging process of the power supply module to the power battery and the output torque of the three-phase motor are controlled simultaneously.
4. The motor drive of claim 1, wherein the required charging power and the motor torque output value are obtained;
the input current of the power supply module is received according to the target input current of the three motors, the control pulse of each phase bridge arm of the three-phase inverter is controlled according to a first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor, and the target input current and the first target duty ratio are obtained according to the required charging power and the motor torque output value.
5. A control method based on the motor drive apparatus according to any one of claims 1 to 4, characterized in that the control method of the motor drive apparatus comprises:
acquiring required charging power and a motor torque output value;
and according to the required charging power and the motor torque output value, regulating the current magnitude and direction of each phase of electricity of the three-phase motor so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
6. A control method based on the motor drive apparatus according to any one of claims 1 to 4, characterized in that the control method of the motor drive apparatus comprises:
acquiring required charging power and a motor torque output value;
acquiring target input current of a three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value;
and receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
7. The control method of claim 6, wherein obtaining a target input current for a three-phase motor and a first target duty cycle for control pulses for each phase leg based on the required charge power and the motor torque output value comprises:
acquiring a target voltage of a capacitor at a voltage reduction side;
and calculating the target input current of the three-phase motor according to the required charging power, the motor torque output value and the target voltage.
8. The control method of claim 7, wherein obtaining a target input current for a three-phase motor and a first target duty cycle for control pulses for each phase leg based on the required charge power and the motor torque output value, further comprises:
acquiring the target current of each phase of electricity of the three-phase motor according to the position of the motor rotor, the target input current and the motor torque output value;
and acquiring a first target duty ratio of control pulses of each phase bridge arm according to the target current of each phase of electricity, the target input current, the target voltage of the voltage reduction side capacitor and the voltage of the power battery.
9. The control method of claim 8, wherein said obtaining a target current for each phase of electricity based on a motor rotor position, said target input current, and a motor torque output value comprises:
Calculating a target current of each phase electricity of the three-phase motor according to the following formulas 1, 2 and 3 according to a motor rotor position and a motor torque output value:
equation 1:
equation 2: ia+ib+ic=i
Equation 3: m=ia×ia+ib×ib+ic×ic
Wherein alpha is the rotor lag angle, IA, IB and IC is the target current of each phase of the three-phase motor, I is the target input current, te is the motor torque output value, lambda, rho and L d ,L q And P is heating power, and M is the minimum value of a plurality of groups of data.
10. The control method of claim 8, wherein obtaining a first target duty cycle of the control pulse for each phase leg based on the target current for each phase, the target input current, the target voltage for the buck-side capacitor, and the voltage of the power cell, comprises:
acquiring the average duty ratio of three-phase electric control pulses according to the target voltage of the step-down side capacitor, the target input current and the voltage of the power battery;
and acquiring a first target duty ratio of control pulses of each phase of bridge arm according to the average duty ratio, the target input current, the target current of each phase of electricity, the target voltage of the voltage reduction side capacitor and the voltage of the power battery.
11. The control method according to claim 10, wherein obtaining an average duty ratio of three-phase electric control pulses from the target voltage of the step-down side capacitor and the voltage of the power battery, comprises:
according to the target voltage of the step-down side capacitor, the target input current and the voltage of the power battery, the average duty ratio of the three-phase electric control pulse is obtained through the following formula:
U 2 ＝U 1 ×D 0 -I x R, wherein U 2 To step down the target voltage of the side capacitor, U 1 For the voltage of the power battery, D 0 The average duty ratio of the three-phase electric control pulse is the target input current, and R is the equivalent impedance of the three-phase motor;
obtaining a first target duty ratio of control pulses of each phase bridge arm according to the average duty ratio, the target input current, the target current of each phase electricity and the voltage of the power battery:
wherein I is 1 For each phase of electric target current, R 1 For equivalent impedance of each phase coil, D 1 A first target duty cycle for the control pulses of each phase leg.
12. The control method of claim 10, wherein the motor drive further comprises an inductance;
the obtaining the average duty ratio of the three-phase electric control pulse according to the target voltage of the step-down side capacitor, the target input current and the voltage of the power battery includes:
According to the target voltage of the step-down side capacitor, the target input current and the voltage of the power battery, the average duty ratio of the three-phase electric control pulse is obtained through the following formula:
U 2 ＝U 1 ×D 0 -I×R-I×R L wherein U is 2 To step down the target voltage of the side capacitor, U 1 For the voltage of the power battery, D 0 The average duty ratio of the three-phase electric control pulse is that I is the target input current, R is the equivalent impedance of the three-phase motor, R L Is an inductive impedance;
obtaining a first target duty ratio of control pulses of each phase bridge arm according to the average duty ratio, the target input current, the target current of each phase electricity and the voltage of the power battery:
wherein I is 1 For each phase of electric target current, R 1 For equivalent impedance of each phase coil, D 1 A first target duty cycle for the control pulses of each phase leg.
13. The control method of claim 8, wherein the controlling each phase leg according to the first target duty cycle further comprises:
acquiring the actual input current of the three-phase motor, and performing PID control operation through a PID regulator according to the actual input current of the three-phase motor and the target input current of the three-phase motor to obtain the average duty ratio variation of the three-phase electric control pulse;
Obtaining a second target duty cycle according to the first target duty cycle and the average duty cycle variation;
and controlling each phase of bridge arm according to the second target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
14. The control method according to claim 13, wherein the step of obtaining the average duty ratio variation of the three-phase electric control pulse by performing PID control operation through a PID regulator based on the actual input current and the target voltage of the three-phase motor, comprises:
acquiring a current difference value between an actual input current of the three-phase motor and a target input current of the three-phase motor;
when the actual input current of the three-phase motor is larger than the target input current, calculating the average duty ratio change increment of the three-phase electric control pulse according to the current difference value and the proportion coefficient of the PID regulator;
and when the actual input current of the three-phase motor is smaller than the target input current, calculating the average duty ratio variation decrement of the three-phase electric control pulse according to the current difference value and the proportion coefficient of the PID regulator.
15. The control method of claim 8, wherein the controlling each phase leg according to the first target duty cycle further comprises:
Acquiring the actual current of each phase of electricity, and performing PID control operation through a PID regulator according to the actual current and the target current of each phase of electricity to obtain the duty ratio variation of the control pulse of each phase of bridge arm;
obtaining a third target duty cycle according to the first target duty cycle and the duty cycle variation;
and controlling each phase of bridge arm according to the third target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
16. The control method according to claim 15, wherein the step of obtaining the duty ratio variation of the control pulse of each phase bridge arm by performing PID control operation through a PID regulator according to the actual current and the target current of each phase electricity includes:
acquiring a current difference value between the actual current and the target current of each phase of electricity;
when the target current of each phase of electricity is larger than the actual current, calculating the duty ratio change increment of the phase bridge arm according to the current difference value and the proportion coefficient of the PID regulator;
and when the target current of each phase of electricity is smaller than the actual current, calculating the change decrement of the duty ratio of the phase bridge arm according to the current difference value and the proportion coefficient of the PID regulator.
17. A motor drive apparatus based on any one of claims 1-4, characterized in that the motor drive apparatus further comprises:
the data acquisition module is used for acquiring required charging power and a motor torque output value;
and the control module is used for adjusting the current magnitude and direction of each phase of electricity of the three-phase motor according to the required charging power and the motor torque output value so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
18. A motor drive apparatus based on any one of claims 1-4, characterized in that the motor drive apparatus further comprises:
the data acquisition module is used for acquiring required charging power and a motor torque output value;
the target duty ratio acquisition module is used for acquiring target input current of the three-phase motor and a first target duty ratio of control pulse of each phase bridge arm according to the required charging power and the motor torque output value;
and the PWM control module is used for receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio so as to simultaneously control the charging process of the power battery by the power supply module and the output torque of the three-phase motor.
19. A vehicle, comprising a memory and a processor;
wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method according to any one of claims 5 to 16.
20. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method according to any one of claims 5-16.
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| CN112848959B (en) * | 2021-03-25 | 2022-10-14 | 广州小鹏汽车科技有限公司 | Charging control method, charging control device and electric automobile |
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| CN112977094B (en) * | 2021-04-26 | 2021-09-03 | 比亚迪股份有限公司 | Electric drive system control method, electric drive system and vehicle |
| CN114312488B (en) * | 2021-12-29 | 2023-08-22 | 臻驱科技（上海）有限公司 | Heating control method and system of electric drive system and vehicle |
| CN114337432A (en) * | 2021-12-30 | 2022-04-12 | 联合汽车电子有限公司 | Zero torque control method, device and system, electronic equipment and storage medium |
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| JP2004048922A (en) * | 2002-07-12 | 2004-02-12 | Toyota Motor Corp | Inverter system for driving polyphase motor, and its control method |
| JP2005130608A (en) * | 2003-10-23 | 2005-05-19 | Nissan Motor Co Ltd | Motor controller |
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| JP5288178B2 (en) * | 2008-02-28 | 2013-09-11 | 富士電機株式会社 | Motor drive system |
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| DE102011118823A1 (en) * | 2011-11-18 | 2013-05-23 | Volkswagen Aktiengesellschaft | Apparatus and method for charging a traction battery of an electric or hybrid vehicle |
| KR101636153B1 (en) * | 2014-10-29 | 2016-07-04 | 쌍용자동차 주식회사 | Charging the electric vehicle based on the torque control method |
| KR101766094B1 (en) * | 2015-12-15 | 2017-08-24 | 현대자동차주식회사 | Power control system for hybrid vehicle |
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| CN107276415A (en) * | 2017-07-17 | 2017-10-20 | 南京南瑞集团公司 | A kind of electric automobile driving and charging integrated power conversion device |
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